change bg::intersection to bg::intersect

Signed-off-by: beyza <bnk@leodrive.ai>
autowarefoundation · Oct 18, 2022 · 74e5cbf · 74e5cbf
1 parent f75e259
commit 74e5cbf
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp b/planning/obstacle_avoidance_planner/src/utils/cv_utils.cpp
@@ -475,9 +475,7 @@ bool isOutsideDrivableAreaFromRectangleFootprint(
     }
     bg::correct(drivable_area_polygon);
 
-    std::vector<Point2d> output;
-    bg::intersection(footprint, drivable_area_polygon, output);
-    if(!output.empty()){
+    if(bg::intersects(footprint, drivable_area_polygon)){
       return true;
     }